Active Visuo-Tactile Point Cloud Registration for Accurate Pose Estimation of Objects in an Unknown Workspace
Prajval Kumar Murali,Michael Gentner,Mohsen Kaboli,Prajval Kumar Murali,Michael Gentner,Mohsen Kaboli
This paper proposes a novel active visuo-tactile based methodology wherein the accurate estimation of the time-invariant SE(3) pose of objects is considered for autonomous robotic manipulators. The robot equipped with tactile sensors on the gripper is guided by a vision estimate to actively explore and localize the objects in the unknown workspace. The robot is capable of reasoning over multiple p...
